2010 8th World Congress on Intelligent Control and Automation 2010
DOI: 10.1109/wcica.2010.5555172
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Global asymptotic adaptive tracking of robot manipulators without velocity measurements

Abstract: This paper revisits the global asymptotic tracking of robot manipulators with position measurements only. A desired compensation adaptive law plus a saturated feedback term coupled to a new dynamic nonlinear filter is designed to produce global asymptotic tracking while compensating for parametric uncertainty and requiring link position measurements only. A new Lyapunov-based stability argument is utilized to prove the global asymptotic tracking. Simulations are included to illustrate the effectiveness of the … Show more

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Cited by 2 publications
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